スライディングセンサ：連続体ロボットの状態推定における設定可能な信頼度
Sliding Sensors: Configurable Confidence in State Estimation for Continuum Robots
連続体ロボットの状態推定において、センサを機械的に移動させることで、タスクに重要な位置での推定信頼度を調整できることを示した論文。
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著者: Ella Walsh, Spencer Teetaert, Eric Diller, Timothy D. Barfoot, Jessica Burgner-Kahrs
分類: cs.RO
原文アブストラクト
Continuum robots often operate in uncertain environments, where accurate state estimation is essential for safe interactions. Estimate uncertainty is inherently spatially non-uniform: confidence varies depending on where measurements are available. Global estimation accuracy is not always the top priority, but rather achieving sufficient confidence at task-relevant locations along the robot. This extended abstract introduces mechanically reconfigurable sensing enabling uncertainty-shaping in state estimation for continuum robots. We present a concept hardware design demonstrating the feasibility of longitudinal translation of a sensor within a continuum robot. We demonstrate that state estimation confidence can be reconfigured by varying the sensor location, and show a reduction of full-body shape estimation errors when sliding the sensor back and forth over time, compared to a single fixed tip sensor.
